pybravo :mechanical_arm:

pybravo is a Python interface for interacting with the Reach Bravo 7 manipulator over an Ethernet connection.

:warning: Disclaimer :warning:

This is an independent project, and is not affiliated with or maintained by Reach Robotics. Please refer to the Reach Robotics SDK for all official software.

Main features

The main features of pybravo include:

• An easy-to-use interface for sending and receiving packets from the Bravo arm
• Implements the Reach serial protocol
• Attach callbacks for asynchronous packet handling

Installation

pybravo can be installed from PyPI by running:

python3 -m pip install pybravo

To build pybravo from source, please refer to the following steps:

1. Clone the project repository
2. Navigate to the pybravo base directory

cd path/to/pybravo

3. Install the package

python3 -m pip install .

Quick start

Refer to the following code snippet for a simple example showing how to get started with pybravo. Additional examples may be found in the project examples.

import struct
import time

from bravo import BravoDriver, PacketID, DeviceID, Packet


def example_joint_positions_cb(packet: Packet) -> None:
    """Read the joint positions from the Bravo 7.

    Args:
        packet: The joint position packet.
    """
    position: float = struct.unpack("<f", packet.data)[0]
    print(
        f"The current joint position of joint {packet.device_id} is {position}"
    )


if __name__ == "__main__":
    bravo = BravoDriver()

    # Attempt to establish a connection with the Bravo
    bravo.connect()

    # Attach a callback to be executed when a packet with the POSITION ID is
    # received
    bravo.attach_callback(PacketID.POSITION, example_joint_positions_cb)

    # Create a request for the current joint positions
    request = Packet(
        DeviceID.ALL_JOINTS, PacketID.REQUEST, bytes([PacketID.POSITION.value])
    )

    # Send the request
    bravo.send(request)

    # Wait a second for the Bravo to respond to the request
    time.sleep(1.0)

    bravo.disconnect()

License

Any proprietary documents or software owned by Reach Robotics and used within this project are subject to the Reach Robotics licensing. All other software is is released under the MIT license.